CN114488905A - Gantry type dual-drive control device, method and medium - Google Patents
Gantry type dual-drive control device, method and medium Download PDFInfo
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Abstract
The invention discloses a gantry type dual-drive control device, method and medium, which are applicable to the field of industrial control. The first FPGA is connected with the first single-ended to differential chip, the second FPGA is connected with the second single-ended to differential chip, the first single-ended to differential chip is connected with the second single-ended to differential chip through a differential line, the first controller is connected with the first FPGA, and the second controller is connected with the second FPGA. Pulse signals generated by an FPGA of the servo driver are transmitted alternately through a differential line to replace the actual position of the current servo driver OA +/-, OB +/-pin and the actual position of another servo driver through the pulse count of the current servo driver A +/-, B +/-pin, so that the problem of wiring line errors caused by more connecting lines between the two current servo drivers is solved, the hard line connection mode is reduced, and the position synchronization of the two servo drivers is realized.
Description
Technical Field
The invention relates to the field of industrial control, in particular to a gantry type dual-drive control device, a method and a medium.
Background
The gantry type dual-drive control technology is widely applied to a gantry machining center and is realized by two servo drivers, namely gantry synchronization for short. The two servo drivers realize mutual transmission of motor position data through corresponding connecting lines, so that the two drivers can coordinately operate. The two servo driver systems form a gantry type dual-drive control system, the two shafts are driven to run under the control of a coordinate driving instruction, the positions of the two shafts need to be kept synchronous, position information of each shaft needs to be shared, position deviation of the two shafts is calculated, so that the positions of the two shafts are controlled to be synchronous, and corresponding connecting lines are formed between the two servo drivers to enable the position information of each servo driver to be transmitted to the other side.
Fig. 1 is a block diagram of a conventional gantry-type dual-drive control system, and a currently common connection manner is shown in fig. 1, in which CMD _ PLS +/-, CMD _ DIR +/-are pulse command input terminals of a servo driver, and CMD _ PLS +/-, CMD _ DIR +/-are normally connected to a motion controller for receiving a position command pulse signal sent by the motion controller. DI1-DI9 are digital IO input terminals and DO1-DO8 are digital IO output terminals, these primarily serve as peripheral control and output signals. OA +/-, OB +/-are pulse output terminals, and OA +/-, OB +/-are generally used for connecting a motion controller to which the motor position is fed back. A +/-, B +/-is another set of pulse input terminals of the servo driver, which are mainly used for gantry synchronization, full closed loop and other functions, and are different from CMD _ PLS +/-, CMD _ DIR +/-. OA +/-, OB +/-of another driver are connected with A +/-, B +/-of the driver of the station. Counting OA +/-, OB +/-pulses gives CNT1, the actual operating position of the motor can be calculated. Counting the A +/-, B +/-pulses results in CNT2, and it is known how many position steps the motor needs to run. The use of the difference between CNT1 and CNT2 in the position control of the motor can help achieve position synchronization of the two axes. In view of the fact that the existing connecting lines are more, when field wiring is conducted, due to the fact that a laying worker is not a professional technician, errors may occur in the wiring process, and therefore the gantry synchronization function cannot be achieved.
Therefore, it is an urgent need to solve the problem of finding a gantry type dual-drive control device with less wiring.
Disclosure of Invention
The invention aims to provide a gantry type dual-drive control device, a gantry type dual-drive control method and a gantry type dual-drive control medium, which reduce hard-wire connection modes and realize the position synchronization of two servo drivers.
In order to solve the above technical problem, the present invention provides a gantry type dual drive control apparatus, comprising: the servo driver comprises a first servo driver and a second servo driver, wherein the first servo driver comprises a first controller, a first FPGA and a first single-end-to-differential chip, and the second servo driver comprises a second controller, a second FPGA and a second single-end-to-differential chip;
the first FPGA is connected with the first single-ended to differential chip and used for sending the first pulse signal to the first single-ended to differential chip; the second FPGA is connected with the second single-ended to differential chip and used for sending the second pulse signal to the second single-ended to differential chip;
the first single-end-to-differential chip is connected with the second single-end-to-differential chip through a differential line and used for receiving the first pulse signal and sending the first pulse signal to the second single-end-to-differential chip so as to send the second pulse signal to the second FPGA, and receiving the second pulse signal and sending the second pulse signal to the first FPGA;
the first controller is connected with the first FPGA, the second controller is connected with the second FPGA, and the first controller and the second controller are respectively used for receiving the second pulse signal and the first pulse signal and determining signal deviation according to the relation between the second pulse signal and the first pulse signal.
In order to solve the technical problem, the invention also provides a gantry type dual-drive control method, which is applied to the gantry type dual-drive control device, and the method comprises the following steps:
acquiring the originally adjusted first servo driver and second servo driver and the corresponding first pulse signal and second pulse signal;
controlling the first pulse signal and the second pulse signal to be respectively sent to a second servo driver and a first servo driver through a differential line;
and carrying out position control on the first servo driver and the second servo driver according to the signal deviation to realize position synchronization, wherein the signal deviation is determined by the relation between the first pulse signal and the second pulse signal.
Preferably, the obtaining the adjusted first servo driver and the adjusted second servo driver comprises:
acquiring function codes corresponding to the first servo driver and the second servo driver;
determining the master-slave relationship between the first servo driver and the second servo driver according to the function code;
acquiring a recovery pulse signal corresponding to a servo driver serving as a main servo driver, wherein the servo driver comprises a first servo driver and a second servo driver;
the control return-to-original pulse signal is sent to a servo driver serving as a slave servo driver through a differential line so that the slave servo driver performs return-to-original position control according to the return-to-original pulse signal to complete return-to-original adjustment.
Preferably, after acquiring the first servo driver and the second servo driver after the recovery adjustment, before acquiring the first burst signal and the second burst signal, the method further includes:
acquiring a data verification state and a connection state of a first servo driver and a second servo driver according to the time interval;
and when the data verification state and the connection state are abnormal, controlling the corresponding servo driver to report errors.
Preferably, after controlling the corresponding servo driver to report an error, the method further comprises:
and carrying out fault protection on the servo driver reporting the error and stopping running.
Preferably, after completing the reversion adjustment, the method further comprises:
and resetting the record of the original pulse signal.
In order to solve the above technical problem, the present invention further provides a gantry type dual-drive control apparatus, which is applied to the gantry type dual-drive control method, and the apparatus includes:
the acquisition module is used for acquiring the originally adjusted first servo driver and second servo driver and the corresponding first pulse signal and second pulse signal;
the first control module is used for controlling the first pulse signal and the second pulse signal to be respectively sent to the second servo driver and the first servo driver through the differential line;
and the second control module is used for carrying out position control on the first servo driver and the second servo driver according to the signal deviation to realize position synchronization, wherein the signal deviation is determined by the relation between the first pulse signal and the second pulse signal.
In order to solve the above technical problem, the present invention further provides a gantry type dual-drive control apparatus, including:
a memory for storing a computer program;
and the processor is used for implementing the steps of the gantry type dual-drive control method when executing the computer program.
In order to solve the above technical problem, the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method for gantry-type dual-drive control are implemented.
The invention provides a gantry type dual-drive control device which comprises a first servo driver and a second servo driver, wherein the first servo driver comprises a first controller, a first FPGA and a first single-end-to-differential chip, the second servo driver comprises a second controller, a second FPGA and a second single-end-to-differential chip, the first FPGA is connected with the first single-end-to-differential chip, the second FPGA is connected with the second single-end-to-differential chip, the first single-end-to-differential chip is connected with the second single-end-to-differential chip through a differential line, the first controller is connected with the first FPGA, and the second controller is connected with the second FPGA. According to the device, the actual position of the current servo driver is reflected by CNT1 obtained by replacing the pulse count of OA +/-, OB +/-pins of the current servo driver by pulse signals generated by an FPGA of the servo driver, and the actual position of the other servo driver is reflected by pulse count CNT2 for replacing A +/-, B +/-pins of the current servo driver, so that the first pulse signals and the second pulse signals generated by the corresponding servo drivers can be interactively transmitted by differential wire connection between the two servo drivers, the signal deviation is determined according to the pulse signals generated by the two servo drivers for position control, the problem of wrong wiring lines caused by more connecting wires between the two current servo drivers is solved, the hard wire connection mode is reduced, and the position synchronization of the two servo drivers is realized.
In addition, the invention also provides a gantry type dual-drive control method, a device and a medium, which have the same beneficial effects as the gantry type dual-drive control device.
Drawings
In order to illustrate the embodiments of the present invention more clearly, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained by those skilled in the art without inventive effort.
FIG. 1 is a structural diagram of a conventional gantry-type dual-drive control system;
fig. 2 is a structural diagram of a gantry type dual-drive control device according to an embodiment of the present invention;
fig. 3 is a structural diagram of a circuit of a single-ended to differential chip provided in this embodiment;
fig. 4 is a flowchart of a method for gantry-type dual-drive control according to an embodiment of the present invention;
fig. 5 is a structural diagram of a gantry type dual-drive control apparatus according to an embodiment of the present invention;
fig. 6 is a structural diagram of another gantry-type dual-drive control apparatus according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative work belong to the protection scope of the present invention.
The core of the invention is to provide a gantry type dual-drive control device, a method and a medium, which reduce the hard wire connection mode and realize the position synchronization of two servo drivers.
In order that those skilled in the art will better understand the disclosure, reference will now be made in detail to the embodiments of the disclosure as illustrated in the accompanying drawings.
It should be noted that the gantry type dual-drive control device provided by the invention is only suitable for the gantry type dual-drive control technology of a gantry machining center, the gantry machining center refers to a machining center with a spindle axis perpendicular to a workbench, and the whole structure is a gantry type frame and is suitable for machining large-sized workpieces and workpieces with complex shapes. The same transmission mechanism is adopted on two sides of the large gantry machining center: two sets of the same alternating current servo driving system. In the machine tool, a gantry sliding seat, a gantry upright post and a cross beam are connected and fixed together through bolts to form a gantry frame. The linear guide rail which is arranged on the base in parallel plays a role in supporting and guiding the movement of the gantry frame, and the movement direction is called the gantry axis (or X axis) direction. The cross beam is provided with a sliding seat for supporting the tool rest and a linear guide rail for guiding, and is used for realizing the movement along the direction of the cross beam (Y-axis direction). In the two-dimensional plane motion in the X-Y axis direction, the gantry machine tool is provided with three servo motors, motors X1 and X2 are respectively installed on two parallel gantry sliding seats (a sliding seat X1 and a sliding seat X2), and the motion in the gantry axis direction is driven through a transmission device in a speed reducer and gear rack mode, so that a dual-motor driving system is formed. The motor Y is arranged on the cross beam and drives the motion in the Y-axis direction through a ball screw. The motor X1 and the motor X2 respectively need a servo driver to drive, and the two sets of servo driving systems form a gantry type dual-drive control system. The dual-drive control system controls and drives two shafts to run simultaneously in a coordinate driving instruction, and the positions of the two shafts need to be kept synchronous. Since synchronization needs to be maintained, position information of each axis needs to be shared, and the position deviation of the two axes is calculated and then used for controlling the position synchronization of the two axes.
Fig. 2 is a structural diagram of a gantry-type dual-drive control apparatus according to an embodiment of the present invention, and as shown in fig. 2, the apparatus includes: the servo driver comprises a first servo driver 1 and a second servo driver 2, wherein the first servo driver 1 comprises a first controller 3, a first FPGA4 and a first single-end-to-differential chip 5, and the second servo driver 2 comprises a second controller 9, a second FPGA8 and a second single-end-to-differential chip 7;
the first FPGA4 is connected with the first single-end-to-differential chip 5 and is used for sending the first pulse signal to the first single-end-to-differential chip 5; the second FPGA8 is connected to the second single-end-to-differential chip 7, and is configured to send the second pulse signal to the second single-end-to-differential chip 7;
the first single-end-to-differential chip 5 is connected with the second single-end-to-differential chip 7 through a differential line 6, and is used for receiving the first pulse signal and sending the first pulse signal to the second single-end-to-differential chip 7 so as to send the second pulse signal to the second FPGA8, and receiving the second pulse signal and sending the second pulse signal to the first FPGA 4;
the first controller 3 is connected with the first FPGA4, the second controller 9 is connected with the second FPGA8, and the first controller 3 and the second controller 9 are respectively used for receiving the second pulse signal and the first pulse signal and determining signal deviation according to the relationship between the second pulse signal and the first pulse signal.
It can be understood that the internal architectures and models of the first servo driver 1 and the second servo driver 2 are completely the same, the order of the two servo drivers in the dual-drive control technology can be changed, and the positions of the first servo driver 1 and the second servo driver 2 can also be interchanged.
Most of the functions of the gantry synchronization function are completed in the first controller 3 and the second controller 9 in the two servo drivers, and the position pulse counting and communication transmission related to the gantry synchronization function are completed in the first FPGA4 and the second FPGA 8. Specifically, the position pulse count is a pulse signal generated by a Field-Programmable Gate Array (FPGA) in the driver, which corresponds to the first pulse signal of the present invention, and is equivalent to the pulse count CNT1 generated by OA +/-, OB +/-pins in fig. 1, which can reflect the actual position of the motor of the stage; the pulse count CNT2 of the second pulse signal, corresponding to pins A +/-, B +/-of FIG. 1, reflects the actual position of the motor of the other. It should be noted that the present invention employs a series of STM32 microprocessors for the controllers in the two servo drives, which is just one preferred embodiment.
The first FPGA4 is connected with the first single-end-to-differential chip 5, and sends a first pulse signal generated by the first FPGA4 to the first single-end-to-differential chip 5; the second FPGA8 is connected with the second single-end-to-differential chip 7, and sends a second pulse signal generated by the second FPGA8 to the second single-end-to-differential chip 7; the first single-end-to-differential chip 5 is connected to the second single-end-to-differential chip 7 through a differential line 6, and is configured to receive the first pulse signal and send the first pulse signal to the second single-end-to-differential chip 7 so as to send the second pulse signal to the second FPGA8, and receive the second pulse signal and send the second pulse signal to the first FPGA 4.
Specifically, the FPGA and the single-end-to-differential chip are connected in an asynchronous serial communication mode, the Baud rate is 2Mbit/s, and the FPGA sends and receives LVCMOS level signals. The first single-end to differential chip 5 and the second single-end to differential chip 7 are preferably SN65HVD3088 models, and may be other models, fig. 3 is a structural diagram of a circuit of a single-end to differential chip provided in this embodiment, as shown in fig. 3, RXCODER in the diagram is a serial signal received from a chip, TXCODER is a serial signal sent to the chip, ENCODER is a direction control signal, and all three signals are connected to the FPGA.
The first single-end-to-differential chip 5 is connected with the second single-end-to-differential chip 7 through a differential line 6, and converts LVCMOS level signals in the FPGA and RS485 differential signals generated by the differential line 6. As shown in fig. 3, three signals of the FPGA are converted into RS485 differential signals through a single-ended to differential chip. It should be understood that the RS485 differential signal generated by the differential line 6 may be other differential signals, and the present invention is not limited in particular, and is set according to the actual situation in the field, and the present invention is only a preferred embodiment.
The first controller 3 is connected with the first FPGA4, the second controller 9 is connected with the second FPGA8, and the first controller 3 and the second controller 9 are respectively used for receiving the second pulse signal and the first pulse signal and determining signal deviation according to the relationship between the second pulse signal and the first pulse signal. Specifically, controllers in two servo drivers acquire a first pulse signal and a second pulse signal which are received, signal deviation is determined according to the relation between the first pulse signal and the second pulse signal, and the signal deviation is used for subsequent position control.
The invention provides a gantry type dual-drive control device which comprises a first servo driver and a second servo driver, wherein the first servo driver comprises a first controller, a first FPGA and a first single-end-to-differential chip, the second servo driver comprises a second controller, a second FPGA and a second single-end-to-differential chip, the first FPGA is connected with the first single-end-to-differential chip, the second FPGA is connected with the second single-end-to-differential chip, the first single-end-to-differential chip is connected with the second single-end-to-differential chip through a differential line, the first controller is connected with the first FPGA, and the second controller is connected with the second FPGA. According to the device, the actual position of the current servo driver is reflected by CNT1 obtained by replacing the pulse count of the OA +/-, OB +/-pin of the current servo driver with the pulse signal generated by the FPGA of the servo driver, and the actual position of the other servo driver is reflected by the pulse count CNT2 for replacing the A +/-, B +/-pin of the current servo driver, so that the first pulse signal and the second pulse signal which are correspondingly generated by the servo driver can be interactively transmitted by differential wire connection between the two servo drivers, the signal deviation is determined according to the pulse signals generated by the two servo drivers for position control, the problem of wrong wiring lines caused by more connecting lines between the two servo drivers is avoided, the hard wire connection mode is reduced, and the position synchronization of the two servo drivers is realized.
The embodiment of the gantry dual-drive control device provided by the present invention is described in detail above, and the present invention also provides a gantry dual-drive control method corresponding to the device.
Fig. 4 is a flowchart of a method for gantry-type dual-drive control according to an embodiment of the present invention, as shown in fig. 4, the method includes:
s11: and obtaining the originally adjusted first servo driver and second servo driver and the corresponding first pulse signal and second pulse signal.
Specifically, before acquiring the first servo driver, the second servo driver, and the corresponding first pulse signal and second pulse signal, it is necessary to perform a reversion adjustment on the first servo driver and the second servo driver, and it can be understood that the reversion adjustment makes the positions of the two servo drivers the same before running, and the reversion adjustment is not back to the original position but adjusted to the same position, so that the subsequent gantry position synchronization is realized.
After the original adjustment is finished, the two servo drivers enter a conventional mode, the FPGA in each servo driver counts the position pulse, the counting of the position pulse is used as the acquired first pulse signal and the second pulse signal, and the pulse signals are used as position pulse data to be sent and received and are finished by the FPGA.
The transmission principle enabling signal is generated in the FPGA according to the carrier period, each carrier period generates an enabling signal, and when the enabling signals are effective, the host controls the direction of the differential line to be transmission, and the starting section, the command section, the data section 0, the data section 1 and the check field of 56 bits in total are sequentially and serially transmitted according to the baud rate of 2 Mbit/s. And after the transmission is finished, controlling the direction of the differential line to be receiving. It must be high when there is no data on the bus. After the host sends out data, if the data is not received in two carrier wave periods, a connection error is reported.
Reception principle when detecting the bus changing from high to low, it starts to calculate the length of the low level duration, if the length is significantly lower or higher than 6us (the start field has 12 0 s, the duration is 6us), it indicates that the error frame is received, and the reception of the frame is abandoned. If the low level length is matched with 6us, the boundary of each field is found out according to the baud rate of 2Mbit/s, and the data is received in series. And finally, performing exclusive or check, and reporting a check error when the check is inconsistent. The slave also reports a connection error when no data is received in two successive carrier cycles.
On the basis of the above embodiment, the conversion between transmission and reception is controlled according to the control signal, the data to be transmitted is formed into a frame conforming to the communication protocol, the received data is analyzed into the required data format through the communication protocol, and the communication link status is reported. When data is transmitted, frame data is serially output as a TXCODER signal at a baud rate. And receiving the RXCODER signal in a serial mode when receiving data, sending the data after serial conversion to an interface control function in the FPGA, and reporting CRC (cyclic redundancy check) errors generated when receiving the data.
Taking the first servo driver as an example, in the interface control function in the FPGA, the clock signal (clk signal), the control signal (ctrl signal), the enable signal (sample _ signal), the first pulse signal (abs _ this _ fdb signal) generated by the FPGA, the primitive pulse signal (gty _ bypass _ fdb signal), the second pulse signal (abs _ other _ fdb signal) in the second servo driver, the primitive pulse signal (gty _ bypass _ in signal) sent by the servo driver as the host, the communication state (link _ state signal), the sending direction (encode signal) for controlling the single-ended to differential chip, the sending data (txencode signal) output to the single-ended to differential chip, the data (rxencode signal) from the single-ended to differential chip are specifically described in table 1:
TABLE 1 description of the signals
S12: and controlling the first pulse signal and the second pulse signal to be respectively sent to the second servo driver and the first servo driver through the differential line.
On the basis of the embodiment, after the first pulse signal and the second pulse signal are obtained, the first pulse signal is respectively sent to the second servo driver through the differential line, and the second pulse signal is sent to the first servo driver.
Specifically, the form of the pulse signal is composed of data segments: a start field, a command field, a data field 0, a data field 1, and a check field, for example, the start field is 16' b 11100000000000000001, and the string of 0 of the start field is for the data receiving end to check whether the data header is correct. The effective data of the command segment, the data segment 0, the data segment 1 and the check field is 8 bits, the lower bit is added with 0, and the upper bit is added with 1, so that a 10-bit data segment is formed. The valid data of data field 0 is the lower 8 bits of the pulse count value and the valid data of data field 1 is the upper 8 bits of the pulse count value. The valid data of the check field is the exclusive or value of the valid data of the data field 0, the data field 1 and the command field.
S13: and carrying out position control on the first servo driver and the second servo driver according to the signal deviation to realize position synchronization, wherein the signal deviation is determined by the relation between the first pulse signal and the second pulse signal.
It can be understood that the signal deviation is determined by the relationship between the first pulse signal and the second pulse signal, the signal deviation is obtained by reading the first pulse signal and the second pulse signal from the respective corresponding FPGAs through the first controller and the second controller in the two servo drivers, and the position command is calculated through the signal deviation to instruct the motor to rotate for position control. The position control adopts a position closed-loop algorithm, and the method is not particularly limited according to which position closed-loop algorithm and can be set according to actual conditions.
The invention provides a gantry type dual-drive control method, which comprises the steps of obtaining a first pulse signal and a second pulse signal corresponding to a first servo driver and a second servo driver which are adjusted back to the original, and controlling the first pulse signal and the second pulse signal to be respectively sent to the second servo driver and the first servo driver through differential lines. And carrying out position control on the first servo driver and the second servo driver according to the signal deviation to realize position synchronization, wherein the signal deviation is determined by the relation between the first pulse signal and the second pulse signal. According to the method, the actual position of the current servo driver is reflected by CNT1 obtained by replacing the pulse count of OA +/-, OB +/-pins of the current servo driver by pulse signals generated by an FPGA of the servo driver, and the actual position of the other servo driver is reflected by the pulse count CNT2 for replacing the A +/-, B +/-pins of the current servo driver, so that the first pulse signals and the second pulse signals which are correspondingly generated by the servo drivers can be interactively transmitted by differential wire connection between the two servo drivers, the position control is carried out by determining signal deviation according to the pulse signals generated by the two servo drivers, the problem of wrong wiring lines caused by more connecting lines between the two current servo drivers is avoided, the hard wire connection mode is reduced, and the position synchronization of the two servo drivers is realized.
On the basis of the above embodiment, the acquiring the original adjusted first servo driver and the second servo driver in step S11 includes:
acquiring function codes corresponding to the first servo driver and the second servo driver;
determining the master-slave relationship between the first servo driver and the second servo driver according to the function code;
acquiring a recovery pulse signal corresponding to a servo driver serving as a main servo driver, wherein the servo driver comprises a first servo driver and a second servo driver;
the control return-to-original pulse signal is sent to a servo driver serving as a slave servo driver through a differential line so that the slave servo driver performs return-to-original position control according to the return-to-original pulse signal to complete return-to-original adjustment.
It can be understood that when the first servo driver and the second servo driver are adjusted back to the original state, the function code needs to be set on the panel of the servo driver to define whether the servo driver is used as the master or the slave, and therefore, the function codes corresponding to the first servo driver and the second servo driver need to be obtained and then sent to the gantry synchronous master-slave register of the FPGA to determine the master-slave relationship of the current servo driver.
When the gantry synchronous function is used for the first time, the origin returning adjustment is needed, the purpose is to adjust the origin of the master machine serving as the servo driver and the origin of the slave machine to be consistent, and the origin returning function can be started by operating the function code of the servo driver. After the recovery operation is started, a controller in the servo driver sets a gantry synchronous mode register of the FPGA to indicate that the FPGA enters a recovery mode. In the return-to-original process, a servo driver serving as a master sends the calculated return-to-original instruction pulse number (return-to-original pulse signal) to an FPGA (field programmable gate array), the FPGA sends the return-to-original pulse signal to a servo driver serving as a slave through a differential line, the servo driver of the slave receives the return-to-original pulse signal and then sends the return-to-original pulse signal to an internal controller, and the servo driver of the slave performs return-to-original position control according to the return-to-original pulse signal to complete return-to-original adjustment.
It can be understood that the restoration adjustment is not performed each time the gantry synchronization function is started, and generally, the master-slave relationship of the servo driver is determined by default at the first distribution site, and the servo driver is used until the original adjustment is performed on the adjustment site or the situation such as a fault occurs according to the actual situation.
Specifically, the data commands sent and received by the master-slave relationship between the two servo drivers in the normal mode and the adjustment mode are shown in table 2, and the data commands in table 2 are only one preferred embodiment:
TABLE 2 transmitting and receiving data command table of servo driver
The first servo driver and the second servo driver which are obtained and adjusted back are convenient for subsequently unfolding the gantry synchronization function, so that the two shafts of the servo drivers can be better controlled to complete position synchronization.
On the basis of the above embodiment, after acquiring the first servo driver and the second servo driver after the recovery adjustment, before acquiring the first burst signal and the second burst signal, the method further includes:
acquiring a data verification state and a connection state of a first servo driver and a second servo driver according to the time interval;
and when the data verification state and the connection state are abnormal, controlling the corresponding servo driver to report errors.
Specifically, after the return adjustment is completed, the gantry synchronous operation mode enters a conventional mode, a gantry synchronous communication state register of the servo driver is read according to a time interval in the gantry synchronous operation, the register represents the data verification state and the connection state of differential line communication, and if the data verification state and the connection state are abnormal, the driver can report errors. Whether the abnormality occurs can be seen through the communication state in table 1, and the error reporting form may be a voice prompt message, or may be error reporting information appearing on a panel of the servo driver in which an error occurs.
In the embodiment, the data verification state and the connection state of the servo driver are obtained, and when the data verification state and the connection state are abnormal, the corresponding servo driver is controlled to report an error. And the staff is timely reported by mistake to remind the staff, so that the situation that the gantry synchronization function is influenced cannot be realized is avoided.
On the basis of the above embodiment, after controlling the corresponding servo driver to report an error, the method further includes:
and carrying out fault protection on the servo driver reporting the error and stopping running.
And after error reporting operation of the corresponding servo driver is carried out, fault protection is carried out on the error reported servo driver, and the operation is stopped. It can be understood that, because the two servo drivers communicate with each other through the differential line, when the data verification state and the connection state of one of the servo drivers are abnormal, the other servo driver can play a role in supervision according to the data sent by the differential line while the servo driver reports an error, and when any one servo driver is abnormal, both servo drivers report an error and simultaneously start fault protection and simultaneously stop running.
The servo driver which reports errors is subjected to fault protection and stops running, the phenomenon that the servo driver works due to faults is avoided, and the service life of the servo driver is prolonged.
On the basis of the above embodiment, after completing the reinitiation adjustment, the method further includes:
and resetting the record of the original pulse signal.
It can be understood that, after the return adjustment is completed, the servo driver enters the normal mode, and at this time, the register storing the return pulse signal is recorded and cleared, so as to enter the normal mode to record the first pulse signal and the second pulse signal.
The recording of the return pulse signal is cleared after the return adjustment is completed. The storage space of a register for recording pulse signals in the servo driver is ensured to be sufficient, and gantry synchronization is realized better for follow-up.
In addition, when the servo driver does not need to support the gantry dual-drive function, the servo driver can also be connected with an absolute serial encoder, the servo driver is provided with a serial encoder interface for connecting a photoelectric encoder on a motor, and the functions of a full closed loop and the like can be realized by adding an encoder interface.
On the basis of the above detailed description of each embodiment corresponding to the gantry-type dual-drive control method, the present invention further discloses a gantry-type dual-drive control device corresponding to the above method, and fig. 5 is a structural diagram of a gantry-type dual-drive control device provided in an embodiment of the present invention. As shown in fig. 5, the apparatus for gantry-type dual drive control includes:
an obtaining module 11, configured to obtain a first pulse signal and a second pulse signal corresponding to the first servo driver and the second servo driver after the original adjustment;
the first control module 12 is configured to control the first pulse signal and the second pulse signal to be sent to the second servo driver and the first servo driver respectively through a differential line;
and a second control module 13, configured to perform position control on the first servo driver and the second servo driver according to a signal deviation to achieve position synchronization, where the signal deviation is determined by a relationship between the first pulse signal and the second pulse signal.
Since the embodiment of the apparatus portion corresponds to the above-mentioned embodiment, the embodiment of the apparatus portion is described with reference to the above-mentioned embodiment of the apparatus portion, and is not described again here.
The invention provides a gantry type dual-drive control device, which is used for acquiring a first pulse signal and a second pulse signal corresponding to a first servo driver and a second servo driver which are adjusted back to the original positions, and controlling the first pulse signal and the second pulse signal to be respectively sent to the second servo driver and the first servo driver through differential lines. And carrying out position control on the first servo driver and the second servo driver according to the signal deviation to realize position synchronization, wherein the signal deviation is determined by the relation between the first pulse signal and the second pulse signal. According to the device, the actual position of the current servo driver is reflected by CNT1 obtained by replacing the pulse count of OA +/-, OB +/-pins of the current servo driver by pulse signals generated by an FPGA of the servo driver, and the actual position of another servo driver is reflected by pulse count CNT2 for replacing A +/-, B +/-pins of the current servo driver, so that the first pulse signals and the second pulse signals generated by the corresponding servo drivers can be interactively transmitted by differential line connection between the two servo drivers, the signal deviation is determined according to the pulse signals generated by the two servo drivers for position control, the problem of line arrangement errors caused by more connecting lines between the two current servo drivers is solved, the hard line connection mode is reduced, and the position synchronization of the two servo drivers is realized.
Fig. 6 is a structural diagram of another gantry-type dual-drive control apparatus according to an embodiment of the present invention, as shown in fig. 6, the apparatus includes:
a memory 21 for storing a computer program;
and the processor 22 is used for implementing the steps of the method for gantry type dual-drive control when executing the computer program.
The gantry-type dual-drive control device provided by the embodiment can include, but is not limited to, a smart phone, a tablet computer, a notebook computer, a desktop computer, or the like.
The processor 22 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The Processor 22 may be implemented in at least one hardware form of a Digital Signal Processor (DSP), an FPGA, and a Programmable Logic Array (PLA). The processor 22 may also include a main processor and a coprocessor, the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 22 may be integrated with a Graphics Processing Unit (GPU) that is responsible for rendering and drawing the content that the display screen needs to display. In some embodiments, processor 22 may also include an Artificial Intelligence (AI) processor for processing computational operations related to machine learning.
In some embodiments, the gantry type dual-drive control device further comprises a display screen 23, an input/output interface 24, a communication interface 25, a power supply 26 and a communication bus 27.
Those skilled in the art will appreciate that the configuration shown in figure 6 does not constitute a limitation on the means for gantry-type dual drive control and may include more or fewer components than those shown.
The processor 22 implements the method of gantry-type dual-drive control provided by any of the above embodiments by calling instructions stored in the memory 21.
The invention provides a gantry type dual-drive control device, which is used for acquiring a first pulse signal and a second pulse signal corresponding to a first servo driver and a second servo driver which are adjusted back to the original positions, and controlling the first pulse signal and the second pulse signal to be respectively sent to the second servo driver and the first servo driver through differential lines. And carrying out position control on the first servo driver and the second servo driver according to the signal deviation to realize position synchronization, wherein the signal deviation is determined by the relation between the first pulse signal and the second pulse signal. According to the device, the actual position of the current servo driver is reflected by CNT1 obtained by replacing the pulse count of OA +/-, OB +/-pins of the current servo driver by pulse signals generated by an FPGA of the servo driver, and the actual position of another servo driver is reflected by pulse count CNT2 for replacing A +/-, B +/-pins of the current servo driver, so that the first pulse signals and the second pulse signals generated by the corresponding servo drivers can be interactively transmitted by differential line connection between the two servo drivers, the signal deviation is determined according to the pulse signals generated by the two servo drivers for position control, the problem of line arrangement errors caused by more connecting lines between the two current servo drivers is solved, the hard line connection mode is reduced, and the position synchronization of the two servo drivers is realized.
Further, the present invention also provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by the processor 22, implements the steps of the method for gantry-type dual-drive control.
It is to be understood that if the method in the above embodiments is implemented in the form of software functional units and sold or used as a stand-alone product, it can be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and performs all or part of the steps of the methods according to the embodiments of the present invention, or all or part of the technical solution. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
For the introduction of a computer-readable storage medium provided by the present invention, please refer to the above method embodiment, which is not repeated herein, and has the same beneficial effects as the gantry-type dual-drive control method.
The device, the method and the medium for gantry type dual-drive control provided by the invention are described in detail above. The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (9)
1. A gantry type dual-drive control device is characterized by comprising: the servo driver comprises a first servo driver and a second servo driver, wherein the first servo driver comprises a first controller, a first FPGA (field programmable gate array) and a first single-end-to-differential chip, and the second servo driver comprises a second controller, a second FPGA and a second single-end-to-differential chip;
the first FPGA is connected with the first single-ended to differential chip and used for sending a first pulse signal to the first single-ended to differential chip; the second FPGA is connected with the second single-ended to differential chip and used for sending a second pulse signal to the second single-ended to differential chip;
the first single-end-to-differential chip is connected with the second single-end-to-differential chip through a differential line and used for receiving the first pulse signal and sending the first pulse signal to the second single-end-to-differential chip so as to send the second pulse signal to the second FPGA, and receiving the second pulse signal and sending the second pulse signal to the first FPGA;
the first controller is connected with the first FPGA, the second controller is connected with the second FPGA, and the first controller and the second controller are respectively used for receiving the second pulse signal and the first pulse signal and determining signal deviation according to the relationship between the second pulse signal and the first pulse signal.
2. A method for gantry-type dual-drive control, which is applied to the gantry-type dual-drive control device of claim 1, and comprises the following steps:
acquiring the originally adjusted first servo driver and second servo driver and the corresponding first pulse signal and second pulse signal;
controlling the first pulse signal and the second pulse signal to be respectively sent to the second servo driver and the first servo driver through a differential line;
and carrying out position control on the first servo driver and the second servo driver according to a signal deviation to realize position synchronization, wherein the signal deviation is determined by the relation between the first pulse signal and the second pulse signal.
3. The method of gantry-type dual-drive control according to claim 2, wherein obtaining the first servo driver and the second servo driver after the recovery adjustment comprises:
acquiring function codes corresponding to the first servo driver and the second servo driver;
determining the master-slave relationship between the first servo driver and the second servo driver according to the function code;
acquiring a recovery pulse signal corresponding to a servo driver serving as a main servo driver, wherein the servo driver comprises the first servo driver and the second servo driver;
and controlling the return pulse signal to be sent to a servo driver serving as a slave servo driver through the differential line so that the slave servo driver performs return-to-original position control according to the return pulse signal to finish return-to-original adjustment.
4. The method of gantry-type dual drive control according to claim 2, further comprising, after said obtaining the originally adjusted first and second servo drivers and before obtaining the first and second pulse signals:
acquiring a data verification state and a connection state of the first servo driver and the second servo driver according to a time interval;
and when the data verification state and the connection state are abnormal, controlling the corresponding servo driver to report errors.
5. The method according to claim 4, further comprising, after an error is reported by said servo driver corresponding to said control:
and carrying out fault protection on the servo driver reporting the error and stopping running.
6. The method of gantry-type dual drive control according to claim 3, further comprising, after said performing a rejuvenation adjustment:
and resetting the record of the return pulse signal.
7. An apparatus for gantry type dual-drive control, which is applied to the method for gantry type dual-drive control of any one of claims 2 to 6, the apparatus comprising:
the acquisition module is used for acquiring the originally adjusted first servo driver and second servo driver and the corresponding first pulse signal and second pulse signal;
the first control module is used for controlling the first pulse signal and the second pulse signal to be respectively sent to the second servo driver and the first servo driver through a differential line;
and the second control module is used for carrying out position control on the first servo driver and the second servo driver according to a signal deviation to realize position synchronization, wherein the signal deviation is determined by the relation between the first pulse signal and the second pulse signal.
8. A gantry type dual-drive control device is characterized by comprising:
a memory for storing a computer program;
a processor for implementing the steps of the method of gantry-type dual-drive control according to any one of claims 2 to 6 when executing said computer program.
9. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor, carries out the steps of the method of gantry-type dual-drive control according to any one of claims 2 to 6.
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